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This document describes the design of a lateral motion controller for a small unmanned aerial vehicle. It discusses: 1) The design of the inner loops, including the roll rate feedback loop and roll tracker loop using a PI controller. 2) The design of a heading direction controller using a P controller as the outer loop to control the lateral states. 3) The inclusion of a washout filter and yaw damper to maintain zero sideslip angle and prevent dutch roll oscillations. 4) Comparison of controller perfo

Author

Adrian Dinca

Language

EN